hmi.physics.ode
Class OdeJoint

java.lang.Object
  hmi.physics.PhysicalJoint
      hmi.physics.ode.OdeJoint

public class OdeJoint
extends PhysicalJoint

OdeJoint Note: axis2 (default: y axis) must always be limited between -0.5pi..0.5pi

Author:

Herwin

Field Summary

private org.odejava.Body	box1
private org.odejava.Body	box2
private org.odejava.JointGroup	jointGroup
private org.odejava.Joint	physicalJoint
private org.odejava.JointAMotor	physicalMotor
private float[]	q
private float[]	w1
private float[]	w2
private org.odejava.World	world

Fields inherited from class hmi.physics.PhysicalJoint

axis1, axis2, hiStop, loStop, name, rotationBuffer, type

Constructor Summary

OdeJoint(JointType t, String name, org.odejava.World w, org.odejava.JointGroup jg)

Method Summary

void	addTorque(float x, float y, float z) Add a torque to this joint
void	attach(RigidBody b1, RigidBody b2)
private void	createJoint()
float[]	getAnchor(float[] src) Get the joints current anchor point, in world coordinates
float	getAngle(int axis) Get the current rotation angle around axis axis
void	getAngularVelocity(float[] w) Get the angular velocity of the joint, in joint coordinates
void	getAngularVelocity(float[] w, int i) Get the angular velocity of the joint, in joint coordinates
void	getForce1(float[] force) Get the force applied to body 1
void	getForce2(float[] force) Get the torque applied to body 2
void	getTorque1(float[] torque) Get the torque applied to body 1
void	getTorque2(float[] torque) Get the torque applied to body 2
void	setAnchor(float x, float y, float z) Set the joint anchor point in world coordinates
void	setAxis(int axis, float x, float y, float z) Set the rotation axis
void	setDesiredVelocity(int axis, float value) Set the desired rotational velocity of a dof of a joint
void	setJointMax(int axis, float max) Sets the joint rotational limits of a dof/axis, range -pi..pi
void	setJointMin(int axis, float min) Sets the joint rotational limits of a dof/axis, range -pi..pi
void	setMaximumForce(int axis, float value) Sets the maximum force of a dof to use to gain the desired velocity

Methods inherited from class hmi.physics.PhysicalJoint

getName, getRotation, getRotation, getRotationBuffer, getType, setName, setRotationBuffer, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

physicalJoint

private org.odejava.Joint physicalJoint

physicalMotor

private org.odejava.JointAMotor physicalMotor

jointGroup

private org.odejava.JointGroup jointGroup

world

private org.odejava.World world

box1

private org.odejava.Body box1

box2

private org.odejava.Body box2

w1

private float[] w1

w2

private float[] w2

q

private float[] q

Constructor Detail

OdeJoint

public OdeJoint(JointType t,
                String name,
                org.odejava.World w,
                org.odejava.JointGroup jg)

Method Detail

createJoint

private void createJoint()

getTorque1

public void getTorque1(float[] torque)

Description copied from class: PhysicalJoint

Get the torque applied to body 1

Specified by:

getTorque1 in class PhysicalJoint

getTorque2

public void getTorque2(float[] torque)

Description copied from class: PhysicalJoint

Get the torque applied to body 2

Specified by:

getTorque2 in class PhysicalJoint

getForce2

public void getForce2(float[] force)

Description copied from class: PhysicalJoint

Get the torque applied to body 2

Specified by:

getForce2 in class PhysicalJoint

getForce1

public void getForce1(float[] force)

Description copied from class: PhysicalJoint

Get the force applied to body 1

Specified by:

getForce1 in class PhysicalJoint

addTorque

public void addTorque(float x,
                      float y,
                      float z)

Description copied from class: PhysicalJoint

Add a torque to this joint

Specified by:

addTorque in class PhysicalJoint

getAngle

public float getAngle(int axis)

Description copied from class: PhysicalJoint

Get the current rotation angle around axis axis

Specified by:

getAngle in class PhysicalJoint

Parameters:

axis - the axis

Returns:

the angle

setDesiredVelocity

public void setDesiredVelocity(int axis,
                               float value)

Description copied from class: PhysicalJoint

Set the desired rotational velocity of a dof of a joint

Specified by:

setDesiredVelocity in class PhysicalJoint

Parameters:

axis - the axis/dof

value - the desired rotational velocity

setMaximumForce

public void setMaximumForce(int axis,
                            float value)

Description copied from class: PhysicalJoint

Sets the maximum force of a dof to use to gain the desired velocity

Specified by:

setMaximumForce in class PhysicalJoint

Parameters:

axis - the axis/dof

value - the maximum force

setJointMin

public void setJointMin(int axis,
                        float min)

Description copied from class: PhysicalJoint

Sets the joint rotational limits of a dof/axis, range -pi..pi

Overrides:

setJointMin in class PhysicalJoint

Parameters:

axis - the dof/axis

min - minimum rotation

setJointMax

public void setJointMax(int axis,
                        float max)

Description copied from class: PhysicalJoint

Sets the joint rotational limits of a dof/axis, range -pi..pi

Overrides:

setJointMax in class PhysicalJoint

Parameters:

axis - the dof/axis

max - maximum rotation

setAxis

public void setAxis(int axis,
                    float x,
                    float y,
                    float z)

Description copied from class: PhysicalJoint

Set the rotation axis

Overrides:

setAxis in class PhysicalJoint

Parameters:

axis - axis 0>=nr>=2, axis 3 is set automatically

x - x

y - y

z - z

getAnchor

public float[] getAnchor(float[] src)

Description copied from class: PhysicalJoint

Get the joints current anchor point, in world coordinates

Specified by:

getAnchor in class PhysicalJoint

Parameters:

src - float[3] to copy in, null means create new

Returns:

result

setAnchor

public void setAnchor(float x,
                      float y,
                      float z)

Description copied from class: PhysicalJoint

Set the joint anchor point in world coordinates

Specified by:

setAnchor in class PhysicalJoint

attach

public void attach(RigidBody b1,
                   RigidBody b2)

getAngularVelocity

public void getAngularVelocity(float[] w)

Description copied from class: PhysicalJoint

Get the angular velocity of the joint, in joint coordinates

Specified by:

getAngularVelocity in class PhysicalJoint

Parameters:

w - the angular velocity

getAngularVelocity

public void getAngularVelocity(float[] w,
                               int i)

Description copied from class: PhysicalJoint

Get the angular velocity of the joint, in joint coordinates

Specified by:

getAngularVelocity in class PhysicalJoint

Parameters:

w - the angular velocity